JP2015047332A - Stand-up assisting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a stand-up assisting device which can reduce the burden on the body of an assisted person when the device assists him/her in stand-up.SOLUTION: A stand-up assisting device mainly includes a base 20, an extendable arm 30, a chest pad 40, a tilting mechanism, an extension/contraction mechanism, and a control unit. In the stand-up assisting device, in the state that the chest of an assisted person is supported on the chest pad 40 when the device assists him/her in stand-up, the control part of the control unit controls the extension/contraction mechanism so that the arm 30 extends and also controls the tilting mechanism so that the arm 30 tilts in the direction in which he/she tries to stand up.

Description

  The present invention relates to a start-up assisting device that assists the start-up of a person being assisted.

  Conventionally, a transfer machine disclosed in the following Patent Document 1 is known as a technology related to a stand-up assisting device that assists a stand-up of an assisting person such as an elderly person or a handicapped person who is difficult to stand up from a posture sitting on a chair or the like. ing. In this Patent Document 1, as a transfer machine that assists the rising of the person being assisted, the seating surface and the arm are moved up and down in the vertical direction with respect to the carriage body to assist the person who is sitting on the seating surface from rising. A configuration is disclosed in which the arm rotates with respect to the carriage body to assist the standing of the person who sits on the seating surface.

Japanese Patent No. 4746147

  By the way, in the configuration as disclosed in Patent Document 1, the person to be assisted is lifted according to the movement of the arm that moves linearly or the movement of the arm that rotates according to the conversion of the linear movement. As a result, the trajectory of the person being lifted becomes a monotonous trajectory (for example, a linear trajectory), which is significantly different from the trajectory of a person's standing up naturally, and the burden on the body of the assistant is large. There is a problem of becoming.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a stand-up assisting device that can reduce the burden on the body of the person being assisted during stand-up assist. .

In order to achieve the above object, the invention of claim 1 according to claim 1 is a stand-up assisting device (10) that assists the stand-up of the person being assisted, and is configured to be extendable and contractable with the base (20). An arm (30) having one end tiltably connected to the base, a tilting mechanism (50) for tilting the arm with respect to the base, a telescopic mechanism (60) for expanding and contracting the arm, and the arm And a control means (71) for controlling the tilting mechanism and the expansion / contraction mechanism, and the control means is provided for assisting in standing up. In the state where the chest of the person being supported is supported by the breast pad, the telescopic mechanism is controlled so that the arm extends, and the arm is tilted in the rising direction. And controlling the tilting mechanism.
In addition, the code | symbol in each said parenthesis shows the correspondence with the specific means as described in embodiment mentioned later.

  According to the first aspect of the present invention, in a state where the chest of the person being assisted is supported by the chest pad during the assisting to stand up, the control means controls the telescopic mechanism so that the arm extends and the arm tilts in the rising direction. The tilt mechanism is controlled.

  For this reason, not only a monotonous trajectory like a linear trajectory but also a complicated trajectory like a curved trajectory can be realized by extending the arm by an expansion / contraction mechanism and tilting the arm by a tilting mechanism. be able to. As a result, the expansion / contraction mechanism and tilting mechanism are controlled so that the trajectory of the breastplate approaches the trajectory of the movement of the assistance person naturally rising, thereby reducing the burden on the body of the assistance person at the time of assistance of the rising person. it can.

  According to the second aspect of the present invention, the arm is extended after the expansion / contraction mechanism is controlled by the control means so that the arm contracts by a predetermined amount in the state where the chest of the person being assisted is supported by the chest pad when assisting the standing up. Thus, the telescopic mechanism is controlled and the tilting mechanism is controlled so that the arm tilts in the rising direction.

  In this way, at the start of standing assistance, once the arm contracts by a predetermined amount from the state where the chest of the assistant is supported by the chest pad, the breast pad that supported the chest of the assistant moves away from the chest. As a result, the supporter's chest is deeply supported by the breastplate. For this reason, since it becomes easy for an assistant to put the weight on the breast pad at the chest, the burden on the body of the assistant at the time of standing up assistance can be further reduced.

  In the invention of claim 3, an operating means for manually operating at least one of the tilting mechanism and the telescopic mechanism is provided. As a result, when the person to be assisted manually operates the operation means, the trajectory of the breast pad at the time of assisting the rising can be easily changed to a desired trajectory.

  In the invention of claim 4, the expansion / contraction mechanism and the tilting mechanism are controlled by the control means based on any of the plurality of control patterns stored in the storage means. As a result, the expansion / contraction mechanism and the tilting mechanism are controlled based on the control pattern selected according to the desired breast pad locus from the plurality of control patterns, so that the desired plurality of breast pad tracks can be easily selected. be able to.

  According to the fifth aspect of the present invention, when information related to a desired breast pad locus for assisting rising is input by the input means, a control pattern corresponding to the input information is set by the setting means and stored in the storage means. Is done. As a result, the person to be assisted can set the trajectory of the breast pad according to the input using the input means, so that it is possible to easily additionally set the trajectory of the breast pad at the time of assisting standing up suitable for the person being assisted.

  In the invention of claim 6, the breastplate is provided with a pair of support portions for supporting both sides of the person being assisted, and the pair of support portions is formed so that the distance between the support portions can be adjusted. As a result, the supporter's chest and both armpits are supported by the breastplate and a pair of support parts, so that the upper body can be securely held, so there is no need for an auxiliary tool that covers the waist and buttocks of the supporter, such as a sling. It can be. In particular, since the distance between the support portions can be adjusted, an optimal holding state can be realized according to the body shape of the person being assisted.

  According to the seventh aspect of the invention, the control mechanism controls the expansion / contraction mechanism so that the arm contracts and the tilting mechanism is controlled so that the arm tilts toward the base in response to an instruction for housing. . As a result, the arm whose overall length is shortened with respect to the base is close to the base, so that the entire device becomes compact compared to the state where the extended arm is separated from the base. Can be improved.

It is a front view of the stand-up auxiliary device concerning this embodiment. It is a side view of the stand-up auxiliary | assistance apparatus of FIG. It is a perspective view which shows the state which removed the breastplate etc. from the stand-up assistance apparatus. It is explanatory drawing explaining the open / close state of a support part. FIG. 2 is a block diagram schematically showing an electrical configuration of the rising assist device in FIG. 1. It is explanatory drawing explaining the way of a person to be aided at the time of assistance of standing up. It is a time chart which shows the control state of the motor for tilting and the motor for expansion-contraction at the time of assisting start-up. It is explanatory drawing explaining the locus | trajectory of the breast pad at the time of standing-up assistance. It is a side view which shows the stand-up auxiliary | assistance apparatus of the accommodation state.

  Hereinafter, an embodiment of a rising assist device according to the present invention will be described with reference to the drawings. FIG. 1 is a front view of a rising assist device 10 according to the present embodiment. FIG. 2 is a side view of the rising assist device 10 of FIG. FIG. 3 is a perspective view showing a state in which the breast pad 40 and the like are removed from the rising assist device 10. FIG. 4 is an explanatory diagram for explaining the open / closed state of the support portions 41a and 41b. FIG. 5 is a block diagram schematically showing an electrical configuration of the rising assist device 10 of FIG. In FIG. 3, illustration of the second rail member 34 and the like of the arm main body 32 a is omitted for convenience. Further, FIG. 4 shows a state where the cover part etc. with which the person to be assisted by the breast pad 40 contacts is removed and the breast pad frame 40a is exposed.

  The stand-up assisting apparatus 10 according to the present embodiment is an apparatus that assists the stand-up of an assisting person such as an elderly person or a handicapped person who is difficult to stand up from a posture seated on a chair or the like. As shown in FIGS. 1 to 5, the rising assist device 10 mainly includes a base 20, a telescopic arm 30, a breast pad 40, a tilt mechanism 50, a telescopic mechanism 60, a tilt mechanism 50, and a telescopic mechanism. And a control unit 70 for controlling the mechanism 60.

  The base 20 includes a base body 21 and four wheels 22. The base main body 21 is for an assisting person to put his / her foot on when assisting standing up, and a foot shape 21a is formed on the upper surface of the base body 21 in order to clarify the place where the assisting person steps on. Each wheel 22 is provided at the four corners of the lower surface of the base body 21. In addition, a pair of support columns 23 a and 23 b that support the arm 30 and the like are disposed at the front end of the base body 21 so as to stand upright. In addition, a knee pad 24 is provided at the upper ends of both supports 23a and 23b to support the knee of the person to be assisted on the foot 21a.

  As shown in FIG. 3, the arm 30 includes tilting pieces 31 a and 31 b that are tiltably connected to both the columns 23 a and 23 b, and a pair of extendable arm bodies 32 a and 32 b. The arm main body 32 a has one end fixed to the tilting piece 31 a, a second rail member 34 slidably provided with respect to the first rail member 33, and the second rail member 34. A screw screw 35 supported rotatably along the longitudinal direction, and a nut member fixed to the first rail member 33 and relatively moving the screw screw 35 in the longitudinal direction in accordance with the rotation of the screw screw 35 36. Similarly to the arm main body 32a, the arm main body 32b also includes a first rail member 33, a second rail member 34, a screw screw 35, and a nut member 36, one end of which is fixed to the tilting piece 31b. The arm main bodies 32 a and 32 b configured in this way expand and contract by sliding (sliding) the second rail member 34 relative to the first rail member 33 in accordance with the rotation of the screw screw 35. It is configured as follows.

  Accordingly, the arm 30 is configured to be extendable and contracted, and one end thereof is connected to the base 20 so as to be tiltable.

  The breast pad 40 is a member that supports the chest of the assistant guardian, and is connected and fixed to the other ends of both arm bodies 32 a and 32 b of the arm 30. A pair of support portions 41 a and 41 b are provided on both sides of the breast pad 40.

  Both support portions 41 a and 41 b are members that support the armpits of the assistant guard whose chest is supported by the breastplate 40. Both support parts 41a and 41b are assembled to the breast pad 40 so that the assistant guardian can easily enter the space surrounded by the breast pad 40 and both support parts 41a and 41b. As shown in FIG. 4, the distance between the support portions is adjusted by opening and closing (turning) the support portions 41a and 41b. In particular, the support portions 41a and 41b are configured such that their open / close (rotation) positions can be locked by a lock mechanism (not shown).

  The tilting mechanism 50 is a mechanism for tilting the arm 30 with respect to the base 20 and includes a tilting motor 51 with a speed reducer. The tilting motor 51 is installed on the support column of the base 20 and is driven and controlled by the control unit 70 to function to adjust the tilting angle of the arm 30 with respect to the base 20. The tilting motor 51 is provided with a sensor (not shown) for detecting the rotation angle and the like, and the detection result of this sensor is output to the control unit 70.

  The expansion / contraction mechanism 60 is a mechanism for expanding / contracting the arm 30 and includes an expansion / contraction motor 61 with a reduction gear. The expansion / contraction motor 61 is installed in the vicinity of the back surface of the breast pad 40, and is driven and controlled by the control unit 70. By rotating the screw screw 35 of the arm 30, the arm 30 is expanded and contracted to adjust its length. To function. The expansion / contraction motor 61 is provided with a sensor (not shown) for detecting the rotation angle and the like, and the detection result of the sensor is output to the control unit 70.

  As shown in FIG. 5, the control unit 70 mainly includes a control unit 71 that performs overall control of the startup assisting device 10, and a memory 72, an operation unit 73, and the like are connected to the control unit 71. Yes. The control unit 71 is composed mainly of a microcomputer, has a CPU, a system bus, an input / output interface, and the like, and functions as an information processing device together with the memory 72. The memory 72 is configured by a known semiconductor memory such as a ROM, a RAM, and a nonvolatile memory, and is configured to be able to store various data such as an operation program and various control patterns for operating a startup assist process described later. Yes. The operation unit 73 includes a plurality of keys and is configured to give an operation signal to the control unit 71 in accordance with a user's key operation. The controller 71 may correspond to an example of “control unit”, and the memory 72 may correspond to an example of “storage unit”.

Next, the startup assistance process performed by the control unit 71 in the startup assistance device 10 configured as described above will be described below.
In the present embodiment, in order to realize standing assistance suitable for the assistant, a plurality of patterns of the locus of the breast pad 40 when assisting the assistant's standing are prepared. The trajectory of the breast pad 40 is obtained by driving and controlling the tilting motor 51 and the telescopic motor 61 with a predetermined control pattern, and a plurality of control patterns associated with the trajectory are preset and stored in the memory 72. It is remembered. Then, in response to the operation of the operation unit 73 for selecting the trajectory of the breast pad 40, the start-up assisting process is started by the control unit 71, and based on the control pattern read from the memory 72 corresponding to the selected trajectory of the breast pad 40. The tilting motor 51 and the expansion / contraction motor 61 are driven and controlled to assist the person being raised.

  Here, a specific example of the startup assistance process will be described in detail with reference to FIGS. 6A and 6B are explanatory diagrams for explaining how to raise the person being assisted during start-up assistance. FIG. 6A shows a state immediately before the start of assistance, FIG. 6B shows a drawing state, and FIG. 6 (C) shows a state in the middle of lifting, and FIG. 6 (D) shows a state in which the assistance for rising is completed. FIG. 7 is a time chart showing the control states of the tilting motor 51 and the telescopic motor 61 at the time of assisting rising. FIG. 8 is an explanatory diagram for explaining the trajectory of the breastplate 40 at the time of assisting standing up. In FIG. 6, for the sake of convenience, illustration of a chair or the like on which the person being assisted is sitting is omitted.

  First, as shown in FIG. 6 (A), the knees of both feet placed on the foot mold 21a of the base 20 contact the knee pad 24 and the breast pad 40 is applied to the person using the standing assist device 10. Then, the standing assist device 10 is positioned so that it comes into contact with the chest and the support portions 41a and 41b enter the armpits.

  In this state, when a desired trajectory of the breast pad 40 is selected according to the operation of the operation unit 73, the rising assist process is started, and for example, a control pattern as illustrated in FIG. 7 is read from the memory 72.

  Next, under the control of the control unit 71, the telescopic motor 61 rotates in the contraction direction so that the arm 30 is shortened by a predetermined amount from the reference length and the breastplate 40 approaches the base 20 (t0 in FIG. 7). -See t1). As a result, as illustrated in FIG. 6B, as a result of the chest pad 40 that supported the chest of the assistant being moved away from the chest, the assistant tilted forward and the chest became deeper into the breast pad 40. It will be in the attracted state supported. At this time, as can be seen from FIG. 7, the tilting motor 51 is not driven.

  Subsequently, under the control of the control unit 71, the telescopic motor 61 rotates in the extending direction so that the length of the arm 30 becomes the reference length (see t1 in FIG. 7), and the arm 30 tilts in the rising direction. Thus, the tilting motor 51 rotates (see t1-t2 in FIG. 7). As a result, as illustrated in FIG. 6C, the person to be supported whose upper body is held by the breastplate 40 and the support portions 41a and 41b starts to be lifted forward.

  The telescopic motor 61 is further rotated in the extending direction until the length of the arm 30 exceeds the reference length and reaches the length at the time of standing, and further tilted until the arm 30 reaches the tilting angle at the time of standing. The tilting motor 51 rotates (see t2-t3 in FIG. 7). Then, as illustrated in FIG. 6D, when the length of the arm 30 is extended to the length at the time of standing and the arm 30 is tilted to the tilting angle at the time of standing, the fluctuation (expansion / contraction / tilting) of the arm 30 is finished, The assistant's start-up assistance is completed.

  In the above-described rising assist process, the trajectory of the breast pad 40 connected to the other end of the arm 30 is close to the trajectory of the natural rising action of the person as shown by the arrow α in FIG. This reduces the burden on the body of the assistant. This trajectory is different between, for example, a person with a large body and a person with a small body, so by selecting a control pattern corresponding to the trajectory of the breast pad 40 suitable for the body shape, etc., assisting in standing up suitable for the person being supported Can be implemented.

FIG. 9 is a side view showing the rising assist device 10 in the accommodated state. In addition, in FIG. 9, illustration of the cover etc. which protect the tilting piece 31a of the arm 30 is abbreviate | omitted for convenience.
Further, the stand-up assisting device 10 configured as described above is provided with an expansion / contraction mechanism so that the arm 30 contracts as shown in FIG. 9 by the control unit 71 in response to an operation for storing the operation unit 73. 60 is controlled, and the tilting mechanism 50 is controlled so that the arm 30 tilts toward the base 20. Thereby, since the arm 30 whose overall length is shortened is close to the base 20, the rising assist device 10 is folded into a compact state suitable for accommodation.

  As described above, in the standing assist device 10 according to the present embodiment, the arm 30 is extended by the control unit 71 of the control unit 70 in a state where the chest of the person being assisted is supported by the breast pad 40 at the time of assisting the standing up. Thus, the telescopic mechanism 60 is controlled, and the tilting mechanism 50 is controlled so that the arm 30 tilts in the rising direction.

  For this reason, as the trajectory of the breastplate 40, the extension / contraction of the arm 30 by the expansion / contraction mechanism 60 and the tilt of the arm 30 by the tilt mechanism 50 are not only a monotonous trajectory like a linear trajectory but also a curvilinear trajectory. Even complicated trajectories can be realized. This makes it easier for the telescopic mechanism 60 and the tilt mechanism 50 to be controlled so that the trajectory of the breastplate 40 approaches the trajectory of the movement of the assistance person to naturally stand up, thereby reducing the burden on the body of the assistance person at the time of assistance of standing up. be able to.

  In particular, in a state where the chest of the person being assisted is supported by the breast pad 40 at the time of standing assistance, the arm 30 extends after the control unit 71 controls the telescopic mechanism 60 so that the arm 30 contracts by a predetermined amount. Thus, the telescopic mechanism 60 is controlled, and the tilting mechanism 50 is controlled so that the arm 30 tilts in the rising direction.

  As described above, when the arm 30 is contracted by a predetermined amount from the state where the chest of the assistant is supported by the breast pad 40 at the start of standing assistance, the breast pad 40 supporting the breast of the assistant is separated from the chest. As a result, the chest of the assistant is deeply supported by the breastplate 40. For this reason, since it becomes easy for an auxiliary person to put the weight on the breast pad 40 at the chest, the burden on the body of the auxiliary person at the time of standing up assistance can be further reduced.

  In addition, the expansion / contraction mechanism 60 and the tilting mechanism 50 are controlled by the control unit 71 based on any of a plurality of control patterns stored in the memory 72. As a result, the telescopic mechanism 60 and the tilting mechanism 50 are controlled based on the control pattern selected from the plurality of control patterns according to the desired breast pad trajectory, so that the desired plurality of breast pad 40 trajectories can be easily obtained. Can be selected.

  Further, the breast pad 40 is provided with a pair of support portions 41a and 41b that support both sides of the person being assisted, and the pair of support portions 41a and 41b are formed so that the distance between the support portions can be adjusted. Thereby, since the chest and both armpits are supported by the breast pad 40 and the pair of support portions 41a and 41b, the supportee can reliably hold the upper body, and thus covers the waist and buttocks of the supportee such as a sling. An auxiliary tool can be made unnecessary. Thus, since the auxiliary tool which covers a waist | hip | lumbar part and a buttocks becomes unnecessary, even when using the said standing assistance apparatus 10 at the time of excretion assistance, it will not become difficult to take off underwear, such as a subon. In particular, since the distance between the support portions can be adjusted, an optimal holding state can be realized according to the body shape of the person being assisted.

  Further, in response to an instruction for housing, the control unit 71 controls the telescopic mechanism 60 so that the arm 30 contracts, and the tilt mechanism 50 so that the arm 30 tilts toward the base 20. The As a result, the arm 30 whose overall length is shortened with respect to the base 20 becomes close to the base 20, so that the entire apparatus becomes compact compared to a state in which the extended arm 30 is separated from the base 20. 10 can be improved.

In addition, this invention is not limited to the said embodiment, You may actualize as follows.
(1) At least one of the tilting mechanism 50 and the telescopic mechanism 60 is not limited to being automatically controlled according to the selected control pattern, and a predetermined operation is performed on the operation unit 73 that functions as an operation unit. It may be operated manually by As a result, when the person to be assisted manually operates the operation unit 73, the trajectory of the breast pad 40 at the time of assisting to stand up can be easily changed to a desired trajectory.

(2) The above-described control pattern is not limited to being stored in the memory 72 in advance, and may be configured to be newly added using an input unit. Specifically, when information related to a desired trajectory of the breastplate 40 when assisting rising is input according to an operation input of the operation unit 73 functioning as an input unit, a control pattern corresponding to the input information is obtained. It is set by the control unit 71 functioning as setting means and stored in the memory 72. As a result, the person to be assisted can set the trajectory of the breast pad 40 in accordance with the input using the input means such as the operation unit 73. Therefore, the trajectory of the breast pad 40 at the time of assisting standing up suitable for the person to be assisted can be easily set. And so on.

(3) The tilting mechanism 50 is not limited to be configured to tilt the arm 30 with respect to the base 20 by the tilting motor 51 with a speed reducer, as described above. May be configured to tilt relative to the base 20.

(4) The expansion / contraction mechanism 60 is not limited to being configured to expand / contract the arm 30 by rotating the screw screw 35 as described above, and the arm configured to be expandable / contractable using another actuator or the like. It may be configured to expand and contract.

(5) The rising assist device 10 is not limited to holding the upper body of the assistant guard by the breast pad 40 and the both support portions 41a and 41b, but may hold the upper body of the assistant guard by the breast pad 40 alone. You may hold | maintain the upper body of an auxiliary guard using also the support member which supports the upper body of an auxiliary guard.

DESCRIPTION OF SYMBOLS 10 ... Standing assistance apparatus 20 ... Base 30 ... Arm 40 ... Chest pad 41a, 41b ... Support part 50 ... Tilt mechanism 60 ... Expansion-contraction mechanism 71 ... Control part (control means, setting means)
72 ... Memory (storage means)
73 ... operation part (operation means, input means)

Claims (7)

A start-up assisting device that assists the supportee in starting up,
Base and
An arm that is configured to be extendable and one end of which is tiltably connected to the base;
A tilt mechanism for tilting the arm with respect to the base;
A telescopic mechanism for extending and contracting the arm;
A breastplate connected to the other end of the arm to support the chest of the guardian;
Control means for controlling the tilting mechanism and the telescopic mechanism,
The control means controls the expansion / contraction mechanism so that the arm extends and the arm tilts in the rising direction in a state where the chest of the person being supported is supported by the breast pad when assisting the rising. A start-up assisting device that controls a tilting mechanism.   The control means is configured so that the arm extends after controlling the expansion / contraction mechanism so that the arm contracts by a predetermined amount in a state where the chest of the person being supported is supported by the breast pad when assisting standing up. 2. The rising assist device according to claim 1, wherein the tilting mechanism is controlled so as to tilt the arm in the rising direction while controlling the expansion and contraction mechanism.   The start-up assisting device according to claim 1, further comprising an operation unit for manually operating at least one of the tilting mechanism and the telescopic mechanism. A control unit for setting the expansion and contraction mechanism and the tilting mechanism by the control unit is set for each trajectory of the breast pad when assisting rising, and a storage unit for storing the plurality of control patterns in advance is provided.
The said control means controls the said expansion-contraction mechanism and the said tilting mechanism based on either of the said some control pattern memorize | stored in the said memory | storage means, The Claim 1 characterized by the above-mentioned. Rise assist device. An input means for inputting information on a desired trajectory of the breastplate when assisting rising;
Setting means for setting the control pattern corresponding to the information input by the input means and storing the control pattern in the storage means;
The start-up assisting device according to claim 4, further comprising: The breastplate is provided with a pair of support portions that support both armpits of the person being assisted,
The rising assist device according to any one of claims 1 to 5, wherein the pair of support portions are formed so that a distance between the support portions can be adjusted.   The control means controls the telescopic mechanism so that the arm contracts and controls the tilt mechanism so that the arm tilts toward the base in response to an instruction for accommodation. The start-up assisting device according to any one of claims 1 to 6.

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